diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
index 2aba986ab680d..52d5ee49c9a68 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
@@ -264,7 +264,9 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
   AvoidOutlines outlines;
   for (auto & o : data.target_objects) {
     if (!o.avoid_margin.has_value()) {
-      if (data.red_signal_lane.value().id() == o.overhang_lanelet.id()) {
+      if (
+        data.red_signal_lane.has_value() &&
+        data.red_signal_lane.value().id() == o.overhang_lanelet.id()) {
         o.info = ObjectInfo::LIMIT_DRIVABLE_SPACE_TEMPORARY;
       } else {
         o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE;